Did you try this one:
// https://wokwi.com/projects/410058296261374977
// Code from https://www.airspayce.com/mikem/arduino/AccelStepper/ProportionalControl_8pde-example.html
// Other example simulations https://forum.arduino.cc/t/wokwi-simulations-for-arduino-built-in-examples/1304754
// See also https://wokwi.com/projects/408621270297541633 with acceleration
//
// Note that the A4988's STEP/DIR pins are connected to two
// separate phases of a 4-wire quadrature signal from the code.
// This works but is 4x slower. It is more effective to use the
// AccelStepper::DRIVER initialization parameter like:
// AccelStepper stepper(AccelStepper::DRIVER,4,3);
// This simulation shares both wirings so the code
// distributed with AccelStepper works as-is
//
// Also, one should always use driver between the Uno and
// the stepper. Something like an L298 or the much more
// efficient TB6612FNC.
//
// ProportionalControl.pde
// -*- mode: C++ -*-
//
// Make a single stepper follow the analog value read from a pot or whatever
// The stepper will move at a constant speed to each newly set posiiton,
// depending on the value of the pot.
//
// Copyright (C) 2012 Mike McCauley
// $Id: ProportionalControl.pde,v 1.1 2011/01/05 01:51:01 mikem Exp mikem $
#include <AccelStepper.h>
// Define a stepper and the pins it will use
AccelStepper stepper; // Defaults to AccelStepper::FULL4WIRE (4 pins) on 2, 3, 4, 5
// This defines the analog input pin for reading the control voltage
// Tested with a 10k linear pot between 5v and GND
#define ANALOG_IN A0
void setup()
{
stepper.setMaxSpeed(1000);
}
void loop()
{
// Read new position
int analog_in = analogRead(ANALOG_IN);
stepper.moveTo(analog_in);
stepper.setSpeed(100);
stepper.runSpeedToPosition();
}
Start with that AccelStepper ProportionalControl example, Switch to use the Step/Dir driver per the comment in the header, and do the arithmetic to transform the potentiometer value into a stepper position.
Oh, for 6 motors and 6 potentiometers, it is more complex than the typical 1-function example sketches -- you likely would want to be able to move more than one axis at a time, and also notice changes in the different pots while the motors were moving, IOW: Several Things at the Same Time. Also, you might want to consider handling the steppers and pots as arrays of steppers and pots rather than built up from cut and paste copies of a 1-axis example.